JP2021079090A - Feeding device for feeding travelable equipment with material, and travelable equipment - Google Patents

Abstract

To provide a feeding device that feeds a material capable of being fed through feed piping to equipment capable of traveling on a travel surface.SOLUTION: A feeding device 1 also has a plug that comprises at least one plug electric contact point component capable of being connected to a plug storage part of equipment capable of traveling by linear joint movement, which is extended toward a free end of the plug along the axis of the plug 4. A feed holding part 6 holds a nozzle and the plug in positions and directions, which are defined in a mutually relative manner, so that the nozzle can be connected to an intake bracket when the plug is connected to the plug storage part.SELECTED DRAWING: Figure 1

Description

The present invention relates to a supply device that supplies a travelable device with supplies that can be supplied through a supply pipe, a travelable device that can be supplied through the supply device, and a supply device and a travelable device. With respect to the system having.

For example, self-driving vehicles (AGVs) such as self-propelled wet cleaning robots, machine tools, granting devices, and automated guided vehicles have been used in various fields. In order for such AGVs to be optimally used, the autonomously operating phase should last as long as possible. With respect to the feasible time length of such a phase, the consumption characteristics of the AGV are sometimes crucial. In that regard, solutions using fixed docking stations that supply consumer goods are known. In that case, the AGV can be connected to the docking station by its own power. Depending on the type of AGV, autonomous operation is constrained by the unintended replenishment of consumables using such a docking station, which inevitably requires a manual process. For example, an AGV can play a role in transporting consumer goods, or needs a consumer goods to successfully fulfill that role. An autonomously operating cleaning robot or floor processing robot consumes, for example, water and / or cleaning liquid during operation. In order for such a cleaning robot or floor processing robot to be able to operate autonomously for as long as possible, it is crucial to supply at least water autonomously.

Generally, the AGV is fixedly installed to replenish the supplies required for the AGV (eg, fluid-based supplies such as electricity, water or emulsion, or supplies with fluidity properties, bulk supplies). A system that works in cooperation with the docking station is used. In such a system, when the appropriate supplies are needed, the AGV even controls the docking station and utilizes its drive unit to connect to the docking station in a connected state. An example of such a floor treatment system is described in Patent Document 1. The system has a floor processing robot and a fixedly installed docking station. In that case, the connecting parts are arranged at a predetermined position on the floor processing robot and a position on the docking station corresponding to the position, respectively. The cleaning robot travels on the installation surface or the traveling surface for connection and arrives at a position in front of the docking station. After arriving at the previous position, the cleaning robot rushes in a direction parallel to the installation surface until it hits the docking station, thereby performing the original connecting motion. Successful connection necessarily requires that the connecting components be aligned parallel to the installation surface. In order to achieve this, the corresponding connecting parts must be oriented horizontally and exactly at the same height as each other. In that case, the height and horizontal orientation of the connecting parts at the docking station will necessarily define the position and orientation of the corresponding connecting parts at the cleaning robot, or vice versa.

International Patent Publication No. 2017/190784

An object of the present invention is to provide a supply device and a traumatic device that enable simpler and more reliable connection while reducing the restrictions imposed on the structure and cooperative operation.

The subject is solved by the features that characterize the independent claims, and an advantageous or special implementation configuration that solves the subject is feasible by the features that characterize the dependent claims.

In a conventional system in which the docking station is used to replenish the runnable equipment in the first invention stage, the docking station is the only special predefined arrangement in the horizontal connection direction in the runnable equipment. It can be seen that the major limitation is that it can operate only in cooperation with the connecting parts of the configuration. When using it, it means that, in the end result, even if the same supplies are supplied, different docking stations corresponding to the different arrangements of the connecting parts in the runnable equipment will inevitably be provided. Means must be used. In addition, the horizontal connection orientations defined by known docking stations may impose high sealing requirements when supplying supplies, especially when undesired leaks should be reliably prevented in the case of liquids.

In another stage of invention, in conventional systems that use the docking station to replenish the runnable device, an unexpected object between the runnable device and the docking station, such as a child, is in the connecting path. It turns out that there are problems that have hardly been solved regarding the safety that guarantees that they will not enter. This may be particularly relevant for systems in which the runnable device has a large weight and therefore generates a correspondingly large force during the articulated motion. Unwanted liability issues also arise with respect to rare damage.

Therefore, the present invention relates to a supply pipe, particularly a supply device for supplying supplies that can be supplied through a pipe pipe to a device that can travel on a traveling surface. The feeder also has a plug with at least one plug electrical contact element electrical contact element, which extends along the axis of the plug towards the free end of the plug and by linear joining motion. , It is possible to connect with the plug accommodating part of the runnable equipment. The supply device also has a supply pipe with a valve and uses a plug electrical contact element to detect a state in which the plug is connected to the plug accommodating portion. In this connected state, it is possible to operate the valve of the supply pipe. The supply device comprises a tubing, a supply holding, exercise equipment and a detection system, which is located in the tubing and extends along the axis of the tubing towards the free end of the tubing. Therefore, it can be connected to the intake bracket of the traveling device. This supply holding portion holds the pipe portion and the plug in a relative defined position and orientation so that the pipe portion is connected to the intake bracket when the plug is connected to the plug accommodating portion. This exercise device can adjust the height of the supply holding portion together with the plug and the pipe portion at least, and can move the supply holding portion in the direction of the joining motion along the joining axis. Therefore, this detection system is configured to detect the position and orientation of the plug accommodating portion based on the identification element of the plug accommodating portion. Based on the detected position and orientation of the plug containment, the feeder connects the plug to the plug containment by a linear joining motion along the joining axis, thereby connecting the tubing to the inlet bracket. It is designed to be.

The advantage of the supply device according to the present invention is that the pipe portion and the plug are held by the supply holding portion in a predetermined relative position and orientation, and the supply holding portion can be moved by an exercise device. Thereby, the supply device according to the present invention can replenish the traveling device, and the replenishment can be applied to different devices in which the connecting parts of the devices are arranged in different forms, for example, at different heights. Smaller restrictions are imposed in the sense that the same feeder can be used. In this case, the motility of the connecting parts (plugs and tubing) is provided by the kinetic equipment. In an advantageous embodiment, the exercise device provides the mobility of the connecting component in three different directions (translational degrees of freedom) and, in some cases, around two axes of rotation (rotational degrees of freedom). In this case, the translational degrees of freedom realize the motility of the plug and the pipe portion at a height relative to the traveling surface on which the traveling device travels and the surface parallel to the traveling surface. The degrees of freedom of rotation provide the mobility of the connecting parts around a rotating shaft that extends parallel to the traveling surface or, in some cases, a rotating shaft that is perpendicular to the traveling surface. Motility around a rotating shaft extending parallel to the running surface allows the plug and tubing to be tilted towards the running surface. Thereby, the feed device is capable of connecting plugs and tubing with corresponding plug accommodating parts and corresponding intake brackets, specifically to their height and orientation in travelable equipment. It is possible regardless. The configurable tilt can prevent, for example, unwanted leaks, which eliminates burdensome sealing, for example, when the liquid is supplied.

Another advantage of the feeder according to the invention is that the motion required for the connection is performed by the exercise equipment, and thus by moving the feed holder with the connecting parts. Thereby, the connecting movement is performed by the exercise equipment, and thus by moving the connecting parts (tubes and plugs), which enables a more reliable connecting movement compared to a system having a docking station. Due to the light weight of the moving device, eg, the cleaning robot, the coupling process, eg, the coupling motion, can be controlled by using less force, which is more controllable. .. Thereby, it is possible to prevent the bruise of the object between the connecting parts to be connected.

The supply device according to the present invention can play a role of supplying, for example, a fluid-based material as a consumable material or a material having flow characteristics to a traveling device as a consumable object through a supply pipe and a pipe portion. In this case, the pipe section is configured as a terminal member of the supply pipe and serves to connect with the intake bracket, so that fluid-based materials or materials having flow characteristics can travel through the supply pipe and the pipe portion. It can be supplied to the equipment. Similarly, the supply device according to the invention serves to supply, as needed, exclusively fluid-based materials or materials with flow characteristics to the runnable device, exclusively supplying current, eg, a storage battery. It can also serve to supply current for charging, as well as supply current at the same time as fluid-based materials or materials with flow characteristics.

The plug of this feeder can advantageously be designed to supply an electric current and, for that purpose, be, for example, an electrical plug with a male plug contact component. These male plug contact components, such as contact pins, can be enclosed by a sack-shaped protective case, so that the contact pins are not freely accessible for contact safety reasons. A component for the plug of this supply device is found in the runnable device and is formed by the plug accommodating portion. In this case, the plug accommodating portion contact component of the plug accommodating portion forms recesses, and the plug electrical contact element of the plug is inserted into these recesses. It is also conceivable that the plug and the plug accommodating portion are arranged interchangeably, for example, the plug is arranged in a traveling device and the plug accommodating portion is arranged in the supply device. In this case, the linear joining motion is associated with inserting the plug into the plug accommodating portion, and the connected state is associated with the state in which the plug is inserted up to the stopper in the plug accommodating portion. In this case, the joining motion is mainly determined together by the guide wall of the plug and the guide wall of the plug accommodating portion.

The plug housing attached to the travelable device typically has a female plug housing contact component corresponding to the male plug contact component of the plug. Then, since the position and orientation of the plug accommodating portion can be detected by the detection system based on, for example, the shape or the arrangement configuration of these female plug accommodating portions relative to each other, the plug accommodating portion can be identified. It can be an element.

This detection system can advantageously be based on imaging and image recognition methods, in which case the position and orientation of the plug accommodating portion is detected based on the identifying elements detected in the captured image. ..

The supply pipe of this supply device can be pipe-shaped or tube-shaped, in which case fluid-based material or material with flow characteristics can be supplied to the runnable equipment through the supply pipe. Yes, one end of the supply pipe is formed by the pipe portion. Then, the other end of the supply pipe can be connected to, for example, a fixedly installed material supply system (water supply part of the building) or a material storage container. This supply pipe has, for example, a valve that can be operated by a supply device. In the simplest case, the valve can occupy an open position and a closed position and can switch back and forth between these positions. In the open position it is possible to supply supplies through the supply line and in the closed position it is blocked. This valve is advantageously located in the area of the supply holding section where the tubing section is held.

This supply device can detect the connected state by forming a contact between the plug electrical contact element of the plug and the plug electrical contact element of the plug accommodating portion, and these contact components can be detected. The formation of contact between them is possible only in the connected state.

This pipe portion forms a terminal component of the supply pipe and is inserted into the intake bracket. In this case, the pipe portion and the intake bracket are in a connected state when the plug and the plug accommodating portion are connected. In this connected state, the pipe portion is inserted into the intake bracket, and it is possible to form a fluid connection portion that supplies supplies through the supply pipe. The tubing may, in some cases, be provided with one or more packings that allow a tighter connection between the tubing and the inlet bracket or a connection by a single layer of shape coupling.

In the present invention, in this supply holding portion, when the plug is connected to the plug accommodating portion, the pipe portion is inserted into the intake bracket, and the plug connection with the plug accommodating portion is the pipe portion with the intake bracket. It is configured to hold the plug and tubing in a way that causes the connection of the.

The exercise equipment can advantageously consist of a robotic arm with at least one arm segment attached to the base plate in an adjustable height. The arm segments are fixed to the base plate so as to be rotatable around the rotation axis, and in the case of a plurality of arm segments, they are connected to each other so as to be able to rotate around one rotation axis. Will be done. This supply holding can advantageously be mounted in the outermost region of the arm segment in a swivel or rotatable manner around at least two mutually orthogonal rotating axes.

In the present invention, the supply device is designed to detect the position and orientation of the plug accommodating portion using a detection system. Based on this, the exercise equipment can move the supply holding part linearly along the joint axis to connect the plug with the plug housing, which causes the connection of the pipe part with the intake bracket. Is done.

This supply device has a control unit that moves the supply holding unit semi-automatically or fully automatically. This control unit is connected via control wiring to a drive unit that automatically provides the rotatable or swivel potential of the supply holding unit. Similarly, this control unit is communicatively connected to a detection system that detects the position and orientation of the plug accommodating unit. In this case, the valve of the supply pipe is also connected to the control unit of the supply device that operates the control wiring via the control wiring. In addition, the plugs are designed to be connected, in connection, via one or more plug electrical contact elements, to be communicatively connected to control runnable equipment, resulting in control of the feeder. The unit can operate in cooperation with the control unit of the traveling device in the framework of supplying the traveling device.

In a special embodiment of this supply device, the supply holding section holds the tube section and the plug so that the axis of the tube section points in a direction parallel to the axis of the plug.

In another embodiment of this feeder, when the axis of the pipe is oriented parallel to the axis of the plug, the junction axis is tilted towards the traveling surface of the runnable device in the direction of the junction motion. In particular, it is particularly advantageous to extend at an inclination angle in the range of 12 ° to 32 °. In this case, a tilt angle of 22 ° is particularly advantageous. By inclining the direction of the joint shaft in this way, the requirement to connect the pipe part to the inlet bracket by shape coupling is reduced, and the fluid material from the intake bracket is sent to the pipe part or vice versa. In order to prevent backflow, for example, it becomes easy to replenish fluid materials to a movable device.

In another special embodiment, the feeder is configured to determine the junction axis based on the detected position and orientation of the plug containment, and the exercise equipment is configured along this determined junction axis. , The supply holding part is designed so that it can be moved together with the plug and the pipe part. In this case, for example, the orientation of the plug accommodating portion in the runnable device can be estimated based on the detection of the identification element of the plug accommodating portion in the captured image and the known configuration of the plug accommodating portion. Then, the joint axis can be determined based on the orientation detected in this way. This allows the plugs and tubing of the same supply device to be connected to plug accommodating and inlet brackets mounted in different orientations on each runnable device.

In another embodiment, the plug and the free end of the pipe are staggered in the direction of the junction axis. In this case, this deviation coincides with the deviation between the plug accommodating portion and the free end of the intake bracket in the runnable device in the direction of the joint axis.

In another special embodiment, the plug is provided with a locking device that electromechanically locks the plug in connection with the plug containment, and this feeding device is used in the feeding piping when the plug is locked. Make the valve operable. In this case, the locking device may include a locking element, eg, a drive unit configured to insert a pin into a locking element housing provided for it, eg, a recess located in a plug housing. In this case, the locking device can only operate when the plug is connected to the plug containment. Thereby, the valve can be opened to supply supplies only when the plug is connected and locked with the plug housing. As a result, the goods are supplied only in the connected state, and the safety can be improved in the sense that the undesired disconnection of the pipe portion does not occur during the supply of the goods. Alternatively, these locking devices and locking elements can also be placed in the plug housing, in which case the locking element housing is placed in the plug.

In a particularly advantageous embodiment of this feeder, the exercise equipment is configured to be able to move the supply holding section together with the plug and tube section in restricted and unrestricted motion modes semi-automatically or fully automatically. This supply device pulls the plug into the plug containment by moving the plug to a position relative to the plug containment in restricted motion mode and by the linear joining motion of the plug in unrestricted motion mode. It is configured to connect with. In this case, the restricted motion mode relates to a motion mode in which the supply holding portion is moved in a form in which the dynamic characteristics and / or the force are greatly reduced. In this case, a threshold for the maximum applicable force to move the supply holding unit can be set. In this case, for example, the contact of the moving parts of the feeder causes the exercise equipment to stop, and as a result, a large force, that is, a force larger than the set threshold value, cannot act on the contacting object. Therefore, there is no danger to the user, person or animal during the autonomous operation of the feeder. In this case, the unrestricted motion mode relates to a motion mode in which the supply holding portion is therefore moved with a greater force than the restricted motion mode. Then, for example, the connection of the plug with the plug accommodating portion can be performed in the non-restricted mode.

In a special embodiment of this feeder, the exercise device has a joining device with a linear drive unit, a supply holding unit is connected to the joining device, and the supply device is a linear drive unit in an unrestricted motion mode. Based on the movement caused by, the plug is configured to connect with the plug housing and the pipe with the inlet bracket.

In another special embodiment of this feeder, the detection system is placed on the exercise equipment, equipped with a camera, and uses image recognition and evaluation algorithms to contain at least two plugs as identification elements of the plug containment. It is possible to detect the position and orientation of the plug accommodating portion based on the electrical contact element.

The present invention also relates to a device capable of traveling on a traveling surface, and the device can supply supplies that can be supplied from the above-mentioned supply device through a supply pipe, particularly a pipe pipe. This runnable device has a plug accommodating portion, which extends along the axis of the plug accommodating portion starting from the free end of the plug accommodating portion and is a straight line of the plug along the joint axis. It is possible to connect with the plug of the feeding device by the joint movement. The plug accommodating portion has at least one plug accommodating electrical contact element and at least one identifying element for the detection system of the feeder. This runnable device has an intake bracket with an intake opening and an intake holding portion, the intake bracket starting from the intake opening and along the axis of the intake bracket. It can be extended and connected to the pipe portion of the supply device. This intake holding portion defines the plug accommodating portion 20 and the intake bracket 22 relative to each other so that the intake bracket 22 is connected to the pipe portion 5 when the plug accommodating portion 20 is connected to the plug 4. Hold in the desired position and orientation. In this intake holding portion, the joint shaft 17 in the direction of the joint movement 16 is inclined toward the traveling surface on which the traveling device is placed, particularly at an inclination angle 19 within the range of 12 ° to 32 °. It is placed on a runnable device so that it extends. This travelable device detects the state in which the plug accommodating portion is connected to the plug by using the plug accommodating unit electrical contact element, and based on this, instructs the travelable device to operate the valve of the supply pipe of the supply device. It is possible to do.

In this case, the intake holding portion is plugged so that the positions and orientations of the plug accommodating portion and the intake bracket relative to each other match the positions and orientations of the plug and the pipe portion relative to each other. Holds the containment and intake bracket. The fact that the relative arrangements of these plugs, pipes, plug housings, and intake brackets match each other means that when the plugs and pipes are moved and connected, the plugs and plug housings or pipes and intake brackets are connected. Causes mutual engagement to occur at the same time. Thereby, it is possible to estimate the state in which the pipe portion is connected to the intake bracket based on the state in which the plug is connected to the plug accommodating portion. Similarly, this means that the safety-related conditions that can be detected when the plug is connected to the plug containment are also related to safety with respect to the connection between the tubing and the inlet bracket. to enable.

In this case, the plug accommodating portion can be connected to the drive energy storage of the travelable device and can also have a communication connection with the control unit of the travelable device. Through such a communication connection, the travelable device can detect, for example, a state in which the plug accommodating portion is connected to the plug. Similarly, it allows runnable equipment to operate valves in supply piping in the connected state. Similarly, the floor processing robot can be provided with a level detection mechanism that notifies the control unit of the level position of consumables such as electric power and / or new floor processing liquid.

The inlet bracket of this runnable equipment is connected to a storage container for supplies that can be supplied, and in some cases allows for tighter or more shape-coupled connections between the tubing and the intake bracket. It may also be provided with one or more packings.

In a special embodiment of the traversable device, the inlet retainer holds the plug accommodating portion and the inlet bracket so that the axis of the plug accommodating portion faces parallel to the axis of the inlet bracket.

In another special embodiment, the free ends of the plug containment and intake bracket are staggered in the direction of the joint axis, and this deviation is the free end of the plug and pipe of the feeder in the direction of the joint axis. Consistent with the gap between. Thereby, the arrangement configuration of the plug, the pipe portion, the plug accommodating portion and the intake bracket can offset the restrictions imposed on the structure on the side of the runnable equipment.

In another special embodiment, the plug containment is provided with at least one locking element for locking the plug accommodating state with respect to the plug locking device of the feeder. In this case, when the plug is locked, it is possible to operate the valve of the supply pipe by a traveling device.

In a particularly advantageous embodiment of the runnable device, the device can be a floor processing robot. In this case, the floor treatment robot can be designed to treat at least a part of the traveling surface with a new floor treatment liquid, for example, a cleaning liquid, during autonomous operation, and the used floor treatment liquid is In some cases, it is absorbed or sucked again by the floor processing robot. Then, a new floor treatment liquid and, for example, an electric current can be autonomously supplied to such a floor treatment robot from the supply device according to the present invention.

An advantageous form of such a floor processing robot has at least a floor processing brush, a cleaning liquid supply unit for supplying the cleaning liquid from the tank to the brush, and thus to the floor, and a suction device that is directed to a damp floor area. In this case, at least one tank and at least one pump are deployed for the cleaning fluid. Advantageously, there is a tank for water containing a cleaning solution or detergent and a tank for detergent added to the water. This drive device has at least one battery and at least one drive motor. This control unit has a display / input device, preferably a touch screen. For example, floor treatment machines that perform outdoor floor treatment for fertilization or sowing, or for such consumption, and for that purpose floor treatment machines that use fluid-based materials or materials with fluidity properties. It can be regarded as a robot.

The present invention also relates to a system having a supply device, a travelable device, and a level detection mechanism that at least provides level information of supplies that can be supplied. The travelable device is a supply pipe from the supply device, particularly a pipe pipe. It is possible to replenish supplies that can be supplied through, and if level information within a given range is provided, the runnable equipment can autonomously travel towards the supply device. , The plug of the supply device is movable towards the plug containment of the travelable device, and by connecting the plug to the plug containment, the pipe is connected to the intake bracket and the plug containment is plugged. Based on detecting the state of being connected to, it is possible to instruct the operation of the valve of the supply pipe by the traveling device. Also, in some cases, a rechargeable battery or storage battery is simply charged.

The device that is autonomously controlled without the driver can be, for example, the floor processing robot or floor cleaning robot described herein that knows the location of the supply device. This level detection mechanism can present the filling state of the new floor treatment liquid to the floor processing robot as level information, and when the presented level state is within a given range, the cleaning robot supplies the floor processing robot. Autonomously control towards the device. Then, when the floor processing robot reaches the supply device, the floor processing robot can inform the supply device of its current position or its existence via, for example, a wireless communication connection with the supply device. Subsequently, the motor equipment of the feeder moves the plug and tube towards the floor processing robot to connect the plug to the plug containment and connect the tube to the plug containment based on the detected position and orientation of the plug containment. Can be connected to the intake bracket. After detecting the state in which the plug is connected to the plug accommodating portion, the valve of the supply pipe can be operated by the supply device, and the valve can be operated by the floor processing robot. Thereby, the floor treatment robot or cleaning robot is replenished with supplies that can be supplied, such as new floor treatment liquid or cleaning liquid and / or electric power. In this case, the amount to be supplied can be determined and monitored using the level detection mechanism or based on the level information. The floor treatment robot can advantageously be designed to drain the consumed floor treatment liquid prior to replenishment.

In one alternative method, the plug can be placed in place of the plug housing and the plug housing can be placed in place of the plug, that is, the plug and the plug housing can be interchanged and used.

In the following, as pure examples, advantageous implementation configurations of feeders, runnable equipment and systems will be described in connection with the cited drawings.

Perspective view of a system with a feeder and a travelable device in the form of a cleaning robot An enlarged perspective view of a part of the supply device and the runnable device by the excerpt part of FIG. Perspective view of a plug with a holding part Front view of the plug with the holding portion of FIG. Side view of the plug with the holding part of FIG. 2 or 3 with the supply pipe and the pipe part. Side view of the system of FIG. An enlarged side view of the plug, the plug accommodating portion, the pipe portion, and the intake bracket connected together with the joining device and the detection system by the excerpt portion of FIG. Front view of plug accommodating part, intake bracket and intake holding part

FIG. 1 has, for example, a supply device 1 for cleaning a floor with a cleaning solution and then replenishing a travelable device 2 in the form of a floor processing robot designed to suck the sprayed cleaning solution again. The system is illustrated. The floor processing robot 2 includes two drive wheels 31, two turnable auxiliary wheels, a drive device having one motor for each drive wheel 31, and a touch screen-shaped display / input device 34. It also has a control unit 36. The floor processing robot 2 has two interchangeable cleaning brushes 35 or pads that rotate around a vertical axis that is offset laterally. These brushes 35 are rotated by a brush drive unit. A cleaning liquid supply unit (not shown) uses a pump to supply cleaning liquid from the first tank to the area of the brush. Detergent can be added to the cleaning solution from the second tank. After the floor treatment with the brush 35, the cleaning liquid remaining on the floor is sucked by the suction device 30 and supplied to the first tank. The electrical energy of all electrically operated components comes from at least one rechargeable battery that can be replenished with current through the plug housing 20 and the plug 4. The suction device 30 is advantageously arranged in the chassis in a form that can be swiveled to some extent via the tracking connection portion, so that the suction device 30 is always damp even when traveling on a curve. Directed to the floor area. Since the brush 35 is arranged so as to be shifted to one side with respect to the central axis in the traveling direction of the floor processing robot, cleaning on this side basically extends to the region having the drive wheels 31. Will be done. The wiper repels the cleaning liquid toward the center of the floor processing robot so that the driving action of the driving wheels 31 is not hindered by the cleaning liquid. In order to also detect obstacles or floor boundaries, sensors that detect obstacles are advantageously employed. In the illustrated embodiment, a plurality of ultrasonic sensors 33 are located in the front region of the housing, and placing these ultrasonic sensors at two different heights ensures good detection of obstacles. To do. Obstacles on the floor, especially steps, are detected by using two infrared sensors 32 facing the floor, which are arranged in front of each side surface. For obstacle detection, at least one contact sensor in the form of a displacement sensor is also deployed, which is located between the chassis and the housing area in front of the travel direction. Here, when only one obstacle comes into contact with the chassis area in front, this housing area is displaced relative to the chassis by the obstacle, and the displacement sensor detects it.

The exercise equipment 7 illustrated in FIG. 1 has, for example, a fixedly installed base plate 14 that can be attached to a wall or, as illustrated, a strut-shaped structure 29. The base plate 14 has a guide rail 9 that guides the first rotation joint in a height-adjustable manner. The first arm segment 7a of the exercise equipment has a first swivel joint so that the first arm segment 7a is height adjustable and is rotatable around the axis of rotation of the swivel joint in a horizontal plane. It is connected to the base plate via. Another arm segment 7b of the exercise equipment is attached to the first arm segment 7a via the second rotation joint, and the second arm segment 7b is again the second rotation joint in the horizontal plane. It is possible to rotate around the axis of rotation of. The free limb of the second arm segment 7b has a third rotating joint through which the supply holding portion 6 is connected to the exercise equipment. In this case, the third rotating joint itself provides at least the possibility of tilting the supply holding portion 6 toward the traveling surface 18 of the traveling device 2. The embodiment of the exercise device 7 illustrated in FIG. 1 includes a joining device 15 with a linear drive unit. In this case, the plug 4 is connected to the connecting device 15 via the supply holding unit 6. The detection system 8 is attached to the joining device 15, and the field of view 41 of the detection system faces the direction of the joining motion 16. The supply device further has a control unit connected to a drive unit of the exercise equipment. In this case, the drive unit of the exercise equipment provides the motility of the supply holding, and thus the plug. This control unit is also connected to the detection system 8, and as a result, the plug 4 can be connected to the plug accommodating unit 20 of the traveling device.

FIG. 2 is an enlarged view of an excerpt of FIG. At the free end 37 of the second arm segment 7b, a joining device 15 having a linear drive unit is connected to the exercise device 7 via a third rotating joint. The supply holding portion 6 is connected to the joining device and holds the plug 4 and the pipe portion 5 in a position and an orientation relative to each other. The supply holding portion 6 can be tilted toward the floor by the exercise device 7. The plug 4 is connected to a power source via an electric cable 38.

FIGS. 3, 4 and 5 illustrate the implementation configuration of the plug 4, the pipe portion 5, and the supply holding portion 6. In this case, the plug 4 has at least one plug electrical contact element 9 that extends along the axis 10 of the plug toward the free end of the plug. This electrical contact element is typically configured in a pin shape and can be further surrounded by a sack-shaped protective device that opens towards the free end of the plug. The linear joining motion 16 for connecting the plug to the plug accommodating portion is determined together by the guide wall 39 of the plug. The plug 4 has a locking element 11 for a locking device of the plug, which is located on the guide wall 39 and allows locking in a connected state. The pipe portion 5 extends along the axis 12 of the pipe portion toward the free end of the pipe portion. The supply holding portion 6 is configured to hold the pipe portion 5 and the plug 4 in a position and an orientation relative to each other. The implementation configuration of the supply holding portion illustrated in FIG. 2 is such that the shaft 10 of the plug extends parallel to the shaft 12 of the pipe portion, and the plugs are spaced apart from each other in a plane perpendicular to the shaft of the plug. And holds the pipe. The holding portion illustrated here has a role of accommodating a first holding portion 6a for holding the plug 4, which can be connected to the joining device 15, and a pipe portion arranged in a pipe shape and arranged in a pipe shape. A third holding portion 6c that forms a connecting bridge that connects the first and second holding portions to each other so that the plug and the pipe portion are held at a defined position and orientation relative to each other. Has a holding portion 6b of. In this case, the spacing 13 is determined according to the size of the plug accommodating portion and the intake bracket corresponding to the plug. In this case, there is no deviation between the free end of the plug and the free end of the pipe portion in the direction of the joint axis. Advantageously, the valve of the supply pipe is located in the region of the second holding portion 6c and is connected to the control portion of the exercise equipment via a control wiring extending through the third holding portion 6b.

FIG. 6 illustrates a device 2 capable of traveling on a traveling surface 18 in the form of a floor processing robot, which can supply supplies that can be supplied from the supply device 1 according to the present invention through the supply pipe 3. In this case, the travelable device 2 is connected to the plug 4 by a linear joining motion 16 of the plug 4 along the joining shaft 17 extending from the free end of the plug housing along the shaft 21 of the plug housing. Has a plug accommodating portion 20 capable of The plug accommodating portion 20 of the embodiment shown in FIG. 6 of the travelable device 2 is connected to the rechargeable battery 26 of the travelable device 2 via a charging cable 25. Similarly, the plug accommodating unit 20 is connected to the control unit of the traveling device 2. The runnable device has an intake bracket 22 with an intake opening, which extends along the axis 23 of the intake bracket starting from the intake opening and is a tube. It is possible to connect with the part 6. The intake bracket is connected to a new floor treatment liquid tank via a hose or pipe-shaped connection 40. In the intake holding portion 24 of the embodiment shown in FIG. 6, the plug accommodating portion 20 and the intake bracket 22 are attached to the plug accommodating portion so that the shaft 21 of the plug accommodating portion extends parallel to the intake bracket 23. It is held in a plane perpendicular to the shaft 21 at a distance from each other. In this case, the intake holding portion 24 is arranged in the travelable device so that the joint shaft 17 extends at an inclination angle 19 of 22 ° toward the traveling surface 18. A detection system 8 is arranged in the joining device 15. This detection system includes a camera in which the detection field of view 41 faces the direction of the joining motion.

FIG. 8 illustrates an implementation configuration of the plug accommodating portion 20, the intake bracket 22, and the intake holding portion 24. This plug housing has at least one plug housing electrical contact element 27. Similarly, this plug containment has at least two identification elements 28 for the detection system 8 of the supply device 1. When the plug accommodating electrical contact element 27 serves as an identifying element 28, the edge of the hole in the plug accommodating electrical contact element allows the orientation of the plug accommodating portion to be identified with respect to the detection system 8. To do.

1 Supply device 2 Travelable equipment 3 Supply pipe 4 Plug 5 Pipe part 6 Supply holding part 6a First holding part 6b Third holding part 6c Second holding part 7 Exercise equipment 7a First arm segment 7b Second Arm segment 8 Detection system 9 Plug electrical contact element 10 Plug shaft 11 Lock element 12 Pipe shaft 13 Interval 14 Base plate 15 Joining equipment 16 Joining motion 17 Joining shaft 18 Running surface 19 Tilt angle 20 Plug housing 21 Plug housing Axis 22 Intake bracket shaft 24 Intake bracket shaft 24 Intake holding part 25 Charging cable 26 Battery 27 Plug housing Electrical contact element 28 Identification element 29 Prop-shaped structure 30 Suction device 31 Drive wheel 32 Infrared sensor 33 Ultrasonic sensor 34 Display / input equipment 35 Cleaning brush 36 Control unit 37 Free end of second arm segment 7b 38 Electric cable 39 Guide wall 40 Connection part 41 Detection field of view

Claims (15)

A linear joining motion (16) extending along the axis (10) of the plug towards the free end of the plug allows it to be connected to the plug accommodating portion (20) of the traversable device (2). A plug (4) with at least one plug electrical contact element (9) and
Supply pipe (3) equipped with a valve and
A supply pipe (3), particularly a supply device (1) for supplying supplies that can be supplied through a pipe pipe to a device (2) capable of traveling on a traveling surface.
The supply device (1) detects a state in which the electrical contact element plug (4) is connected to the plug accommodating portion via the plug electrical contact element, and based on this, makes the valve of the supply pipe (3) operable. In device (1)
This supply device (1) has a pipe section (5), a supply holding section (6), an exercise device (7), and a detection system (8).
The pipe portion (5) is arranged in the supply pipe (3) and extends along the axis (12) of the pipe portion toward the free end of the pipe portion, and is a travelable device (2). It is possible to connect with the intake bracket (22),
The supply holding portion (6) is connected to the pipe portion (5) and the plug (5) so that the pipe portion (5) is connected to the intake bracket (22) when the plug (4) is connected to the plug accommodating portion. Hold 4) in a position and orientation relative to each other
This exercise device (7) allows the supply holding portion (6) to be at least height-adjusted (9) together with the plug (4) and the pipe portion (5), and is joined along the joining shaft (17). It is possible to move in the direction of movement (16),
This detection system (8) is configured to detect the position and orientation of the plug accommodating portion (20) based on the identification element (28) of the plug accommodating portion (20).
Based on the detected position and orientation of the plug accommodating portion (20), the supply device (1) plugs the plug (4) into the plug accommodating portion (4) by a linear joining motion (16) along the joining shaft (17). It is designed to connect with (20), thereby connecting the pipe section (5) with the inlet bracket (22).
A supply device characterized by that. The supply holding portion (6) holds the pipe portion (5) and the plug (4) so that the shaft (12) of the pipe portion faces in a direction parallel to the shaft (10) of the plug. The supply device according to claim 1. The joint axis (17) is tilted toward the running surface (18) of the runnable device (2) in the direction of the joining motion (16), particularly at an inclination angle in the range of 12 ° to 32 °. The supply device according to claim 1 or 2, wherein the supply device extends. The supply device (1) is configured to determine the joint axis (17) based on the detected position and orientation of the plug accommodating portion (20), and the exercise equipment (7) is this determined. Claims 1 to 3 are designed so that the supply holding portion (6) can be moved together with the plug (4) and the pipe portion (5) along the joint shaft (17). The supply device according to any one of the above. The free ends of the plug (4) and the pipe portion (5) are arranged so as to be offset from each other in the direction of the joining shaft (17), and this deviation is caused by the traveling device (2) in the direction of the joining shaft (17). The supply device according to any one of claims 1 to 4, wherein the supply device corresponds to a deviation between the free end of the plug accommodating portion (20) and the intake bracket (22). A locking device that electromechanically locks the state in which the plug (4) is connected to the plug accommodating portion (20) is arranged in the plug, and when the plug is locked, the supply device (1) ) Is the supply device according to any one of claims 1 to 5, wherein the valve of the supply pipe (3) can be operated. The exercise device (7) is designed to move the supply holding portion (6) together with the plug (4) and the pipe portion (5) in the restricted exercise mode and the unrestricted exercise mode semi-automatically or fully automatically. ,
This supply device (1)
In the restricted motion mode, by moving the plug (4) relative to the plug accommodating portion (20), and in the non-restricted motion mode, the linear joining motion (16) of the plug (4). By
The plug (4) is configured to be connected to the plug accommodating portion (20).
The supply device according to any one of claims 1 to 6, characterized in that. The exercise device (7) has a joining device (15) provided with a linear drive unit, and the supply holding section (6) is connected to the joining device (15). 1) connects the plug (4) to the plug accommodating portion (20) and the pipe portion (5) to the inlet bracket (22) based on the motion caused by the linear drive unit in the unrestricted motion mode. The supply device according to claim 7, wherein the supply device is configured to perform the same. The detection system (8) is located in the exercise equipment (7), has a camera, and uses an image recognition algorithm and an evaluation algorithm to use at least two as identification elements (28) of the plug accommodating portion (20). The supply device according to any one of claims 1 to 8, wherein the position and orientation of the plug accommodating portion (20) can be detected based on the plug accommodating portion electrical contact element (27). Starting from the free end of the plug housing, it extends along the axis (21) of the plug housing and is supplied by the linear joining motion (16) of the plug (4) along the joining axis (17). It is possible to connect with the plug (4) of the device (1), and at least one plug accommodating electrical contact element electrical contact element and at least one discriminating element for the detection system of the supply device (1). With the plug accommodating part (20)
An intake bracket having an intake opening that extends along the axis (23) of the intake bracket starting from the intake opening and can be connected to the pipe portion (5) of the supply device (1). 22) and
When the plug accommodating portion (20) is connected to the plug (4), the plug accommodating portion (20) and the intake bracket (22) are relative to each other so as to connect the intake bracket (22) to the pipe portion (5). Hold in a defined position and orientation,
The joint axis (17) is tilted in the direction of the joint motion (16), especially at an inclination angle in the range of 12 ° to 32 °, toward the traveling surface on which the travelable device (2) is placed. Arranged in the runnable device (2) so as to extend,
Intake holding part (24) and
A runnable device (2) capable of supplying supplies that can be supplied from a supply device (1) to a supply pipe (3), particularly through a pipe pipe.
The travelable device (2) detects a state in which the electrical contact element plug (4) is connected to the plug accommodating portion via the plug electrical contact element, and based on this, the travelable device (2) is used. It is possible to instruct the operation of the valve of the supply pipe (3) of the supply device (1).
Travelable equipment. The inlet holding portion (24) has a plug accommodating portion (20) and an intake bracket (20) so that the shaft (21) of the plug accommodating portion faces in a direction parallel to the axis (23) of the intake bracket. 22) The travelable device according to claim 10. The free ends of the plug accommodating portion (20) and the intake bracket (22) are arranged so as to be offset from each other in the direction of the joining shaft (17), and this deviation is caused by the supply device (1) in the direction of the joining shaft (17). The runnable device according to claim 11, which coincides with the deviation between the plug (4) and the free end of the pipe (5). The plug accommodating portion (20) has at least one locking element for the locking device of the plug (4) of the supply device (1) that locks the state in which the plug accommodating portion (20) is connected to the plug (4). 10. The run according to any one of claims 10 to 12, wherein the valve of the supply pipe (3) can be operated by the runnable device (2) when the plug is locked. Possible equipment. The traveling device according to any one of claims 10 to 13, wherein the traveling device (2) is a floor processing robot. A system including the supply device (1) according to any one of claims 1 to 9 and the runnable device (2) according to any one of claims 10 to 14.
This runnable device (2) can replenish supplies that can be supplied from the supply device (1) through the supply pipe (3), and provides level detection that provides at least one level information of the supplies that can be supplied. Has a mechanism,
When the level information within a predetermined range is provided, the travelable device (2) can autonomously travel toward the supply device (1), in the supply device (1).
It is possible to move the plug (4) of the supply device (1) toward the plug accommodating portion (20) of the travelable device (2).
By connecting the plug (4) to the plug accommodating portion (20), the pipe portion (5) is connected to the intake bracket (22), and the pipe portion (5) is connected to the intake bracket (22).
Based on detecting the state in which the plug accommodating portion (20) is connected to the plug (4), it is possible to instruct the operation of the valve of the supply pipe (3) by the traveling device (2).
system.

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